YASKAWA MP2000 Series User Manual page 208

[ b ] Monitoring Parameters
Parameter Name
IW00 Running
Bit 1 (At Servo ON)
IL02 Warning
IL04 Alarm
Motion Command
IW08
Response Code
IW09 Command
Bit 0 Execution Flag
IW09 Command Hold
Bit 1 Completed
IW09 Command Error
Bit 3 Completed Status
Command
IW09
Execution
Bit 8
Completed
IW0C Discharging
Bit 0 Completed
IW0C Positioning
Bit 1 Completed
IW0C
NEAR Position
Bit 3
( 5 ) Timing Charts
[ a ] Normal Execution
OW 08 = 8 (STEP)
IW 08 = 8 (STEP)
IW 09, bit 0 (BUSY)
IW 09, bit 3 (FAIL)
IW 09, bit 8 (COMPLETE)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
Stores the most current warning.
Stores the most current alarm.
Indicates the motion command that is being executed.
The response code is 8 during STEP command execution.
Turns ON during STEP command execution and then turns OFF when STEP command
execution has been completed.
Turns ON when a deceleration to a stop has been completed as the result of setting the
Holds A Command bit (OW09, bit 1) to 1 during STEP command execution
(IW08 = 8).
Turns ON if an error occurs during STEP command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command is exe-
cuted.
Turns ON when STEP command execution has been completed.
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
Turns ON when pulse distribution has been completed and the current position is within the
Width of Positioning Completion. OFF in all other cases.
The operation depends on the setting of the NEAR Signal Output Width (setting parameter
OL20).
OL20 = 0: Turns ON when pulse distribution has been completed (DEN = ON). Oth-
erwise, it turns OFF.
≠
OL20 0: Turns ON when the absolute value of the difference between MPOS
(IL12) and APOS (IL16) is less than the NEAR Position Setting
even if pulse distribution has not been completed.
OFF in all other cases.
1 scan Undefined length of time
7.2 Motion Command Details
7.2.7 STEP Operation (STEP)
Monitor Contents
7
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